CN112910359A - Improved permanent magnet synchronous linear motor model prediction current control method - Google Patents
Improved permanent magnet synchronous linear motor model prediction current control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
Abstract
The invention discloses an improved permanent magnet synchronous linear motor model prediction current control method. Firstly, acquiring three-phase current of a motor and an electric angle of a rotor at a moment k; then calculating current components of the three-phase current at the dq coordinate at the sampling time k through coordinate transformation, and further obtaining a current predicted value of the three-phase current at the dq coordinate at the sampling time k +1 by a first-order Euler equation; then constructing a cost function related to the dq current, and screening an optimal voltage vector; then replacing the q-axis current reference value in the dead beat control target with a q-axis current measured value at the moment k, and calculating the action time of an optimal voltage vector and a zero vector; and finally, outputting an inverter control signal to drive the inverter. The invention eliminates the current deviation item in the traditional duty ratio control, thereby facilitating the engineering realization. The improved control strategy can greatly reduce the calculation burden of the controller, effectively reduce the torque pulsation and improve the dynamic and steady-state performance of the system.
Description
Technical Field
The invention relates to an improved permanent magnet synchronous linear motor model prediction current control method, and belongs to the field of motor driving and control.
Background
The permanent magnet synchronous linear motor is used as a core unit of the direct-drive transmission mechanism, has the advantages of high thrust density, high control precision, small mechanical loss and the like, and is widely applied to high-precision equipment such as computer numerical control lathes and the like. In a motor vector control system, a current loop determines the control performance of the whole motor system. Compared with the traditional current control algorithm, the model predictive control algorithm has better dynamic and steady-state performance. Therefore, the model prediction current control algorithm meeting the high control precision requirement of the permanent magnet synchronous linear motor system is researched, and the method has a wide application prospect.
Disclosure of Invention
The technical problem is as follows: aiming at the prior art, the improved permanent magnet synchronous linear motor model prediction current control method is provided, and the dynamic and steady-state performance of the system can be improved through a simpler control algorithm.
The technical scheme is as follows: an improved permanent magnet synchronous linear motor model prediction current control method comprises the following steps:
step 1: acquiring the electrical angle theta of the motor at the moment k of the motor through the grating ruler position information acquisition module (1)eAnd calculating the electrical angular velocity omega of the rotor of the motoreAnd a velocity v;
step 2: obtaining a reference value i of the q-axis current through a PI controller (2)q refAnd giving a d-axis current reference value id ref＝0；
And step 3: obtaining a current component i under a k sampling moment dq coordinate system through a coordinate transformation module (3)d(k)、iq(k)；
And 4, step 4: obtaining a discretization stator current equation under a dq coordinate system through a first-order Euler equation (4), and determining a stator current predicted value i at the sampling moment of k +1d(k +1) and iq(k+1)；
And 5: screening out an optimal voltage vector through a value function, replacing a q-axis current reference value in a dead-beat control target with a q-axis current measurement value at the k moment by combining the dead-beat control idea, and constructing a new dead-beat tracking equation;
step 6: and calculating the duty ratio of the optimal voltage vector and the zero voltage vector by a current slope method module (5) and outputting an inverter driving signal.
As optimization, the electrical angular velocity ω of the rotor of the motor is calculated in step 1eAnd the speed v is as follows: obtaining the electrical angular velocity omega from the formula (1)eThe mover speed is obtained from equation (2).
N in the formula (1)pIs the number of pole pairs of the motor, and tau is the pole distance; in the formula (2), dx represents a positional deviation amount.
As optimization, the current component i under the coordinate system of the sampling time dq of k is obtained by the coordinate transformation module in step 3d(k)、 iq(k) The specific method comprises the following steps: three-phase stator current i of permanent magnet synchronous linear motor k at sampling time is obtained by current sensora(k)、 ib(k) And ic(k) Obtaining the component i of the stator current at the moment k on the alpha beta axis after Clark transformation shown in formula (3)α(k) And iβ(k) Obtaining the stator current component i at the k moment of the dq axis after Park conversion of formula (4)d(k) And iq(k)；
As an optimization, the specific method for obtaining the predicted value of the stator current at the sampling time k +1 in step 4 is as follows: the current differential equation shown in equation (6) is discretized according to the first-order feedforward euler equation shown in equation (5), and a prediction equation of the stator current at the time k +1 shown in equation (7) can be obtained.
Wherein is(k +1) and is(k) Represents the current states at the time k +1 and the time k;
in the formula ud、uqThe stator voltage d and q axis voltage components are respectively; l isd、LqD and q axis inductance components, respectively; r is a stator resistor; psifRepresenting a permanent magnet flux linkage.
In the formula id(k)、iq(k) D-axis current and q-axis current at the current sampling moment are respectively; i.e. id(k+1)、iq(k +1) are d-axis current predicted values and q-axis current predicted values at the next sampling moment respectively; t issIs a sampling period; u. ofd(k)、uq(k) D-axis voltage and q-axis voltage at the current moment respectively; omegae(k) The current rotor electrical angular velocity is obtained.
As optimization, the specific method for screening the optimal voltage vector and constructing a new dead-beat tracking equation in step 5 is as follows: constructing an error evaluation function shown as a formula (8) to obtain an optimal voltage vector u which enables a value function G to be minimumopt(ii) a And replacing the q-axis current reference value in the dead-beat control target with the q-axis current measured value at the k moment to obtain a dead-beat tracking equation shown in the formula (9).
G＝|id ref-id(k+1)|2+|iq ref-iq(k+1)|2 (8)
As optimization, the specific process of calculating the duty ratio of the optimal voltage vector and the zero voltage vector by the current slope method in the step 6 is as follows: the optimum voltage vector u is calculated from the equation (10)optUnder the action of iqThe current change rate is calculated from equation (11) at a zero voltage vector u0Under the action of iqRate of change of current. Substituting the calculation results of the formula (10) and the formula (11) into the deadbeat formula shown in the formula (12), and combining the formula (12) and the formula (13) to obtain the optimal voltage vector duty ratio gamma shown in the formula (14).
iq(k+1)＝iq(k)+Sopttopt+S0t0＝iq(k) (12)
topt+t0＝Ts (13)
In the formula (10), uqoptTo an optimum voltage vector uoptQ-axis component of (a); in the formula (11), uq0Q-axis component of zero voltage vector; in the formula (12), toptAnd t0The action time of the optimal voltage vector and the zero voltage vector are respectively, and the constraint condition of the formula (13) is satisfied.
Has the advantages that:
1) an active voltage vector and a zero vector are acted in a control period, so that the steady-state performance of the system is improved;
2) the reference value of q-axis current of the dead-beat control target is replaced by the measured value at the current sampling moment, so that the current deviation item in the traditional duty ratio control is eliminated, and the engineering realization is facilitated;
3) the requirement of a control algorithm on a hardware system is reduced, and the reliability of dual-vector control is ensured.
Drawings
FIG. 1 is a control block diagram of an improved permanent magnet synchronous linear motor model prediction current control method, which comprises a 1-grating ruler position information acquisition module, a 2-PI controller module, a 3-coordinate transformation module, a 4-first order Euler equation module and a 5-current slope method module.
Fig. 2 is a schematic diagram of an improved duty ratio calculation of the improved permanent magnet synchronous linear motor model prediction current control method of the present invention.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
A method for controlling the prediction current of an improved permanent magnet synchronous linear motor model comprises the following steps:
step 1: calculating electric angular velocity omega of motor rotoreAnd a velocity v, an electrical angular velocity ω is obtained from the formula (1)eThe mover speed is obtained from equation (2).
N in the formula (1)pIs the number of pole pairs of the motor, and tau is the pole distance; in the formula (2), dx represents a positional deviation amount.
Step 2: obtaining a reference value i of the q-axis current through a PI controller (2)q refAnd giving a d-axis current reference value id ref＝0；
And step 3: the electricity under the dq coordinate system at the k sampling moment is obtained through a coordinate transformation module (3)Flow component id(k)、iq(k) The specific method comprises the following steps: three-phase stator current i of permanent magnet synchronous linear motor k at sampling time is obtained by current sensora(k)、ib(k) And ic(k) Obtaining the component i of the stator current at the moment k on the alpha beta axis after Clark transformation shown in formula (3)α(k) And iβ(k) Obtaining the stator current component i at the k moment of the dq axis after Park conversion of formula (4)d(k) And iq(k)；
And 4, step 4: obtaining a discretization stator current equation under a dq coordinate system through a first-order Euler equation (5), and determining a stator current predicted value i at the sampling moment of k +1d(k +1) and iq(k +1), the specific method is as follows: the current differential equation shown in equation (6) is discretized according to the first-order feedforward euler equation shown in equation (5), and a prediction equation of the stator current at the time k +1 shown in equation (7) can be obtained.
Wherein is(k +1) and is(k) Represents the current states at the time k +1 and the time k;
in the formula ud、uqThe stator voltage d and q axis voltage components are respectively; l isd、LqD and q axis inductance components, respectively; (ii) a R is a stator resistor; psifRepresenting a permanent magnet flux linkage.
In the formula id(k)、iq(k) D-axis current and q-axis current at the current sampling moment are respectively; i.e. id(k+1)、iq(k +1) are d-axis current predicted values and q-axis current predicted values at the next sampling moment respectively; t issIs a sampling period; u. ofd(k)、uq(k) D-axis voltage and q-axis voltage at the current moment respectively; omegae(k) The current rotor electrical angular velocity is obtained.
And 5: screening out an optimal voltage vector through a value function, replacing a q-axis current reference value in a dead-beat control target with a q-axis current measurement value at k moment by combining a dead-beat control idea, and constructing a new dead-beat tracking equation, wherein the specific method comprises the following steps of: constructing an error evaluation function shown as a formula (8) to obtain an optimal voltage vector u which enables a value function G to be minimumopt(ii) a And replacing the q-axis current reference value in the dead-beat control target with the q-axis current measured value at the k moment to obtain a dead-beat tracking equation shown in the formula (9).
G＝|id ref-id(k+1)|2+|iq ref-iq(k+1)|2 (8)
Step 6: the current slope method module (5) calculates the duty ratio of the optimal voltage vector and the zero voltage vector and outputs inverter driving signals, and the specific method comprises the following steps: the optimum voltage vector u is calculated from the equation (10)optUnder the action of iqThe current change rate is calculated from equation (11) at a zero voltage vector u0Under the action of iqRate of change of current. Substituting the calculation results of the formula (10) and the formula (11) into the dead beat formula shown in the formula (12), and combining the formula (12) and the formula (13) to obtain the optimal voltage vector duty ratio shown in the formula (14).
iq(k+1)＝iq(k)+Sopttopt+S0t0＝iq(k) (12)
topt+t0＝Ts (13)
In the formula (10), uqoptTo an optimum voltage vector uoptQ-axis component of (a); in the formula (11), uq0Q-axis component of zero voltage vector; in the formula (12), toptAnd t0The action time of the optimal voltage vector and the zero voltage vector are respectively, and the constraint condition of the formula (13) is satisfied.
The improved permanent magnet synchronous linear motor model prediction current control method is implemented under the conditions that the direct current bus voltage is 300V and the load torque is 4 N.m. The simulation results are as follows: the speed reaches a given rotating speed and keeps stable as can be seen from the speed oscillogram, and the thrust is stable and has small fluctuation as can be seen from the electromagnetic thrust oscillogram.
Under the conditions that the direct-current bus voltage is 300V, and the load torque is suddenly changed from 2 N.m to 4 N.m, the improved permanent magnet synchronous linear motor model prediction current control method is implemented, and the simulation result is as follows: it can be seen from the velocity waveform that when the load torque is suddenly changed, the velocity has small fluctuation and rapidly recovers to be smooth, and it can be seen from the electromagnetic thrust waveform that the thrust can be rapidly increased and kept smooth.
Under the conditions that the direct-current bus voltage is 300V and the rotating speed is suddenly changed from 0.2m/s to 1m/s, the simulation result shows that the speed can quickly reach the given value. The electromagnetic thrust oscillogram shows that the thrust can still keep stable under the condition of sudden speed change, and the system has good dynamic performance.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. An improved permanent magnet synchronous linear motor model prediction current control method is characterized by comprising the following steps:
step 1: acquiring the electrical angle theta of the motor at the moment k of the motor through the grating ruler position information acquisition module (1)eAnd calculating the electrical angular velocity omega of the rotor of the motoreAnd a velocity v;
step 2: obtaining a reference value i of the q-axis current through a PI controller (2)q refAnd giving a d-axis current reference value id ref＝0；
And step 3: obtaining a current component i under a k sampling moment dq coordinate system through a coordinate transformation module (3)d(k)、iq(k)；
And 4, step 4: obtaining a discretization stator current equation under a dq coordinate system through a first-order Euler equation (4), and determining a stator current predicted value i at the sampling moment of k +1d(k +1) and iq(k+1)；
And 5: screening out an optimal voltage vector through a value function, replacing a q-axis current reference value in a dead-beat control target with a q-axis current measurement value at the k moment by combining the dead-beat control idea, and constructing a new dead-beat tracking equation;
step 6: and calculating the duty ratio of the optimal voltage vector and the zero voltage vector by a current slope method module (5) and outputting an inverter driving signal.
2. The improved permanent magnet synchronous linear motor model prediction current control method according to claim 1, characterized in that the step 1 of calculating motor mover electric powerAngular velocity omegaeAnd the speed v is as follows: obtaining the electrical angular velocity omega from the formula (1)eThe mover speed is obtained from equation (2).
N in the formula (1)pIs the number of pole pairs of the motor, and tau is the pole distance; in the formula (2), dx represents a positional deviation amount.
3. The improved permanent magnet synchronous linear motor model prediction current control method according to claim 1, characterized in that in step 3, a current component i under a k sampling time dq coordinate system is obtained through a coordinate transformation moduled(k)、iq(k) The specific method comprises the following steps: three-phase stator current i of permanent magnet synchronous linear motor k at sampling time is obtained by current sensora(k)、ib(k) And ic(k) Obtaining the component i of the stator current at the moment k on the alpha beta axis after Clark transformation shown in formula (3)α(k) And iβ(k) Obtaining the stator current component i at the k moment of the dq axis after Park conversion of formula (4)d(k) And iq(k)；
4. The improved permanent magnet synchronous linear motor model prediction current control method according to claim 1, wherein the specific method for obtaining the predicted value of the stator current at the sampling time k +1 in the step 4 is as follows: the current differential equation shown in equation (6) is discretized according to the first-order feedforward euler equation shown in equation (5), and a prediction equation of the stator current at the time k +1 shown in equation (7) can be obtained.
Wherein is(k +1) and is(k) Represents the current states at the time k +1 and the time k;
in the formula ud、uqThe stator voltage d and q axis voltage components are respectively; l isd、LqD and q axis inductance components, respectively; r is a stator resistor; psifRepresenting a permanent magnet flux linkage.
In the formula id(k)、iq(k) D-axis current and q-axis current at the current sampling moment are respectively; i.e. id(k+1)、iq(k +1) are d-axis current predicted values and q-axis current predicted values at the next sampling moment respectively; t issIs a sampling period; u. ofd(k)、uq(k) D-axis voltage and q-axis voltage at the current moment respectively; omegae(k) The current rotor electrical angular velocity is obtained.
5. The improved permanent magnet synchronous linear motor model prediction current control method according to claim 1, wherein the specific method for screening the optimal voltage vector and constructing a new dead-beat tracking equation in step 5 is as follows: constructing an error evaluation function shown as a formula (8) to obtain an optimal voltage vector u which enables a value function G to be minimumopt(ii) a Replacing the q-axis current reference value in the deadbeat control target with time kThe q-axis current measurement results in the dead-beat tracking equation shown in equation (9).
G＝|id ref-id(k+1)|2+|iq ref-iq(k+1)|2 (8)
6. The improved permanent magnet synchronous linear motor model prediction current control method according to claim 1, characterized in that the specific process of calculating the duty ratio of the optimal voltage vector and the zero voltage vector by the current slope method in step 6 is as follows: the optimum voltage vector u is calculated from the equation (10)optUnder the action of iqThe current change rate is calculated from equation (11) at a zero voltage vector u0Under the action of iqRate of change of current. Substituting the calculation results of the formula (10) and the formula (11) into the deadbeat formula shown in the formula (12), and combining the formula (12) and the formula (13) to obtain the optimal voltage vector duty ratio gamma shown in the formula (14).
iq(k+1)＝iq(k)+Sopttopt+S0t0＝iq(k) (12)
topt+t0＝Ts (13)
In the formula (10), uqoptTo an optimum voltage vector uoptQ-axis component of (a); in the formula (11), uq0Q-axis component of zero voltage vector; in the formula (12), toptAnd t0The action time of the optimal voltage vector and the zero voltage vector are respectively, and the constraint condition of the formula (13) is satisfied.
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| CN114567141A (en) * | 2022-03-31 | 2022-05-31 | 长沙湘电电气技术有限公司 | Control method of high-thrust reciprocating motion permanent magnet synchronous linear motor |
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